CN103054508A - Limb type window-cleaning robot - Google Patents
Limb type window-cleaning robot Download PDFInfo
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- CN103054508A CN103054508A CN2012105669003A CN201210566900A CN103054508A CN 103054508 A CN103054508 A CN 103054508A CN 2012105669003 A CN2012105669003 A CN 2012105669003A CN 201210566900 A CN201210566900 A CN 201210566900A CN 103054508 A CN103054508 A CN 103054508A
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- window
- bow
- rod member
- arm
- wiping
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Abstract
The invention relates to a limb type window-cleaning robot which comprises a main machine, wherein a fixing part, a window-cleaning work part, a work driving part and a control system are arranged on the main machine. The work driving part comprises a rotary plate, a first driving device, a limb, an arch rope, a rope winder and a second driving device; the limb comprises a first rod member and a second rod member; the second end of the first rod member is rotatably connected with the rotary plate, and a second near-straight spring is arranged on the connection portion; the first end of the first rod member is hinged to the first end of the second rod member, and a first near-straight spring is arranged on the hinge portion; the second end of the second rod member is rotatably connected with the window-cleaning work part, and a third near-straight spring is arranged on the connection portion; and one end of the arch rope is connected with the window-cleaning work part, and the other end of the arch rope is connected with the rope winder. The fixing part comprises a fixing plate, one end of the fixing plate is rotatably connected with the main machine, the near-straight spring is arranged on the connection portion, and a clamping space is formed between the fixing plate and the main machine. The limb type window-cleaning robot is easy and convenient to use and strong in practical applicability.
Description
Technical field
The present invention relates to a kind of wiping window apparatus, specifically, relate to the arm-type window wiping robot of a kind of bow.
Background technology
In the Modern Residence of apartment-type, the cleaning of window-glass is one the heaviest in the housework always.If stay in high level, the outer surface glass of cleaned window also has very large danger, thereby generally speaking, people are seeing the glass pane that is covered with dust all over, and usually " hopes dirt heave a sigh ".Do the work that window is wiped by family, especially a kind of window wiping robot of wiping clearly for outside window-glass so need a cost performance of exploitation robot suitable and easy to use.
Existing window wiping robot only has an outside main frame of side window family movement on glass usually, because without effective fixed form, and the situation such as be easy to drop in its course of work, so have larger potential safety hazard.
Summary of the invention
The purpose of this invention is to provide the arm-type window wiping robot of a kind of bow easy to use, simple in structure and that the position is fixed, security is good.
For achieving the above object, the technical solution used in the present invention is:
The arm-type window wiping robot of a kind of bow, it comprises main frame, is provided with on the described main frame described main frame is arranged at fixed part on the window frame, wipes the control system of the wiping window workpiece of window-glass, the task driven parts that drive the work of described wiping window workpiece, the arm-type window wiping robot work of the described bow of control clearly;
Comprise fixed disk on the described main frame, described task driven parts comprise and rotatingly are installed on the described fixed disk and are connected to drive the first drive unit, bow arm, bow rope that described rotating disc rotates at the rotating disc of the rotation with in surface that is parallel to described window-glass, with described control system, are arranged in the described rotating disc the second drive unit that is connected to control described ropewinder folding and unfolding with the ropewinder of the described bow rope of folding and unfolding, with described control system;
Described bow arm comprises the first rod member and the second rod member; The second end of described the first rod member rotates with described rotating disc and is connected, the junction of described the first rod member and described rotating disc be provided with second become straight spring and described the first rod member with respect to described rotating disc at the rotation with in surface perpendicular to described window-glass; The first end of the first end of described the first rod member and described the second rod member is hinged, and this hinged place is provided with the first straight spring that becomes, and described the first rod member and described the second rod member relatively rotate in the plane perpendicular to described window-glass; The second end of described the second rod member rotates with described wiping window workpiece and is connected, the junction of described the second rod member and described wiping window workpiece be provided with the 3rd become straight spring and described the second rod member with respect to described wiping window workpiece at the rotation with in surface perpendicular to described window-glass;
One end of described bow rope is connected with described wiping window workpiece, and the sidewall that the other end passes described rotating disc is connected with described ropewinder;
Described fixed part comprises the fixed head that is arranged on the described main frame, one end of described fixed head rotates by rotating shaft with described main frame and is connected, and the junction of described fixed head and described main frame is provided with curved spring, be formed for the grasping part of the described window frame of clamping between described fixed head and the described main frame, be provided with elastic rubber fitting on the inwall of close described main frame one side of described grasping part, be provided with the vacuum rubber bowl on the inwall of close described fixed head one side of described grasping part.
Preferably, described rotating disc rotates with described fixed disk by fixed axis and is connected, the boring of described rotating disc also forms inner chamber, described the second drive unit and described ropewinder are fixed on the side of described inner chamber, have the tooth bar that arranges along the rotation direction of described rotating shaft on the wall of described inner chamber;
The transmitting gear that rotates on the output shaft that described the first drive unit comprises the first drive motors of being connected with described control system, be arranged at described the first drive motors and with this output shaft same axis, described the first drive unit and described fixed disk all are arranged on the described fixed disk, and described transmitting gear is meshed with described tooth bar.
Preferably, described tooth bar camber, and described bow arm is arranged on the axis of symmetry of described tooth bar.
Preferably, described the second drive unit comprises the second drive motors, and described ropewinder is connected with described the second drive motors and rotates with the described bow rope of folding and unfolding under the drive of described the second drive motors.
Preferably, be provided with the conversion impeller of the folding and unfolding amount that detects described bow rope in the described main frame, be provided with the infrared transceiver that is connected with described control system on the wheel rim of described conversion impeller, described bow rope extends to described ropewinder after walking around the described conversion impeller of part.
Preferably, described control system comprises control panel, and described control panel is arranged on the described fixed head.
Preferably, described wiping window workpiece comprises body, the bottom of described body is provided with the hairbrush rotating disk and is arranged at the thumb wheel with salient point of described hairbrush rotating disk both sides, the inside of described body is provided with the 3rd drive unit that drives described hairbrush disk operation, is provided with scraping article on the described thumb wheel.
Preferably, on the described body around its bottom surface week upwards be provided with the impingement plate that is connected with described control system.
Preferably, described control system is connected with power supply.
Because technique scheme is used, the present invention compared with prior art has following advantages: the arm-type window wiping robot of bow of the present invention can be fixed on the window frame and finish the clear wiping work of window-glass, it is easy to use, practicality is stronger, can avoid it by dropping on the window, security is higher.
Description of drawings
Accompanying drawing 1 is the schematic perspective view of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 2 is looked schematic diagram for the master of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 3 is the broken section schematic top plan view of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 4 is the broken section schematic top plan view of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 5 is the elevational schematic view of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 6 is looked schematic diagram for the master of the wiping window workpiece of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 7 is the elevational schematic view of the wiping window workpiece of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 8 is the schematic side view of the wiping window workpiece of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 9 is the working state schematic representation of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 10 is the arm-type window wiping robot workflow of bow of the present invention block diagram.
Accompanying drawing 11 is that FB(flow block) is interrupted in the collision of the arm-type window wiping robot of bow of the present invention.
Accompanying drawing 12 is the interruption FB(flow block) far away that send of the arm-type window wiping robot of bow of the present invention.
In the above accompanying drawing: 1, main frame; 2, fixed part; 3, wipe the window workpiece; 4, task driven parts; 5, control system; 6, fixed head; 7, grasping part; 8, elastic rubber fitting; 9, vacuum rubber bowl; 10, toggle; 11, control panel; 12, power switch; 13, adapter jack; 14, powered brush is sent button far away; 15, powered brush retracts button; 16, rotating disc; 17, bow arm; 18, bow rope; 19, ropewinder; 20, fixed axis; 21, the first rod member; 22, the second rod member; 23, conversion impeller; 24, infrared transceiver; 25, tooth bar; 26, transmitting gear; 27, body; 28, hairbrush rotating disk; 29, thumb wheel; 30, DC micromotor; 31, scraping article; 32, impingement plate; 33, window frame; 34, window-glass; 35, fixed disk.
The specific embodiment
The invention will be further described below in conjunction with embodiment shown in the drawings.
Embodiment one: referring to accompanying drawing 1 to shown in the accompanying drawing 5.
The arm-type window wiping robot of a kind of bow, it comprises main frame 1.Be provided with on the main frame 1 with main frame 1 be arranged at fixed part 2 on the window frame 33, clearly wipe window-glass 34 wiping window workpiece 3, drive the task driven parts 4 of wiping 3 work of window workpiece, the control system 5 of the arm-type window wiping robot work of control bow.
Fixed part 2 comprises the fixed head 6 that is arranged on the main frame 1.One end of fixed head 6 and main frame 1 rotate by rotating shaft and are connected, and the junction of fixed head 6 and main frame 1 is provided with curved spring.Be formed for the grasping part 7 of clamping window frame 33 between fixed head 6 and the main frame 1, be provided with elastic rubber fitting 8 on the inwall of close main frame 1 one sides of grasping part 7, be provided with vacuum rubber bowl 9 on the inwall of close fixed head 6 one sides of grasping part 7.Also be provided with the toggle 10 of regulating vacuum rubber bowl 9 on the fixed head 6.
Width that can grasping part 7 during design is set to be slightly larger than the thickness of window frame 33.When main frame 1 is fixed on the window frame 33, window frame 33 is inserted in the grasping part 7.Make fixed head 6 have the trend of rotating to main frame 1 direction owing to fixed head 6 and 1 in main frame are provided with curved spring, thereby be fixedly clamped window frame 33.At this moment, the bottom of fixed head 6 is towards indoor.
Comprise fixed disk 35 on the main frame 1.Task driven parts 4 comprise rotating rotating disc 16, the first drive unit, bow arm 17, bow rope 18, ropewinder 19, the second drive unit that is installed on the fixed disk 35.
Rotating disc 16 is cylindric and is installed on the fixed disk 35 by fixed axis 20.When this main frame 1 was fixed on the window frame 33, rotating disc 16 can be at the rotation with in surface that is parallel to window-glass 34.
One end of bow rope 18 is connected with wiping window workpiece 3, and the sidewall that the other end passes rotating disc 16 is connected with ropewinder 19.Ropewinder 19 is arranged in the rotating disc 16 and restricts 18 in order to the folding and unfolding bow, and ropewinder 19 drives control by the second drive units that are arranged at equally in the rotating disc 16.The second drive unit comprises the second drive motors, and it is connected with control system 5.The boring of rotating disc 16 also forms inner chamber, and the second drive motors and ropewinder 19 are fixed on the side of inner chamber.When the second drive motors rotated, it drove ropewinder 19 and rotates the folding and unfolding that realizes bending rope 18.Simultaneously, also be provided with the conversion impeller 23 of the folding and unfolding amount that detects bow rope 18 in the rotating disc 16.Be provided with the infrared transceiver 24 that is connected with control system 5 on the wheel rim of conversion impeller 23, bow rope 18 extends to ropewinder 19 after walking around part conversion impeller 23.When bending rope 18 folding and unfolding, it can drive conversion impeller 23 and rotate simultaneously, calculates the folding and unfolding amount of bending rope 18 by infrared transceiver 24 countings on the conversion impeller 23 and by control system 5 with this, realizes the control to bow rope 18 folding and unfolding length.
Has the tooth bar 25 that arranges along the rotation direction of rotating shaft on the wall of the inner chamber of rotating disc 16.This tooth bar 25 is curved, adapts with the rotation amplitude of rotating disc 16.The first drive unit all is arranged on the fixed disk 35 with fixed axis 20 and the first drive unit is connected to drive rotating disc 16 rotations with control system 5.The transmitting gear 26 that the first drive unit comprises the first drive motors, be arranged on the output shaft of the first drive motors and rotate with this output shaft same axis, transmitting gear 26 is meshed with tooth bar 25.When the first drive motors turned round, its output shaft drove transmitting gear 26 coaxial rotation on it, because the engagement of transmitting gear 26 and tooth bar 25, thereby impel rotating disc 16 to rotate.And bow arm 17 is arranged on the axis of symmetry of tooth bar 25, so that the forward of rotating disc 16 and counter-rotating.
Referring to accompanying drawing 6 to shown in the accompanying drawing 8.Wipe window workpiece 3 and comprise body 27, the bottom of body 27 is provided with two hairbrush rotating disks 28 and is arranged at the thumb wheel 29 with salient point of hairbrush rotating disk 28 both sides, the inside of body 27 is provided with the 3rd drive unit that drives 28 work of hairbrush rotating disk, and the 3rd drive unit is DC micromotor 30.Be provided with scraping article 31 on the thumb wheel 29.At the impingement plate 32 that is connected with control system 5 that upwards is provided with in week around its bottom surface, the front end that this impingement plate 32 only is arranged at body 27 gets final product on the body 27.
Shown in accompanying drawing 9.When this bends arm-type window wiping robot work, at first be fixed on the window frame 33 by fixed part 2.Under the original state, wipe the window worker and organize parts near main frame 1.At this moment, bow rope 18 tensions and bow arm 17 can't be launched self become under the effect of straight spring at the second straight spring and the 3rd that becomes, can be the surface of wiping window workpiece 3 and be pressed in window-glass 34.Start control system 5, rotate by the first drive motors driven rotary dish 16, move back and forth thereby make wiping window workpiece 3 do camber line on the surface of window-glass 34.At this moment, start the purpose that the 3rd drive motors band electric brush rotating disk 28 rotates to reach cleaning.When wiping window workpiece 3 moved, the scraping article 31 on the thumb wheel 29 can play the scraping effect.If in the time of need to sending wiping window workpiece 3 far away, start the second drive motors and drive ropewinder 19 and loosen bow rope 18, at this moment, become under the effect of straight spring first, bow arm 17 is extending certain distance.And need to retract when wiping window workpiece 3, to tighten up bow rope 18 to get final product, this moment, the torsion of the second drive motors must become straight spring action in the pulling force that bends on the rope 18 greater than first.Above-mentioned functions can be controlled by " powered brush is sent button 14 far away " and " powered brush retracts button 15 " on the control panel 11.If the impingement plate 32 of wiping on the window workpiece 3 is run into window lattice or window frame 33, it can transmit a signal to control system 5, and control system 5 is automatically controlled according to this signal and retracted or send wiping window worker far away to organize parts.During end-of-job, wipe the position that window workpiece 3 is got back to initial close main frame 1.
Referring to accompanying drawing 10 to shown in the accompanying drawing 12.This course of work of bending arm-type window wiping robot is as follows: start this and bend arm-type window wiping robot, after control system 5 initializes, judge that needing control to wipe window workpiece 3 carries out arc to motion (i.e. the clear window-glass 34 of wiping) or radial motion (namely bow rope 18 and bow arm 17 are flexible).If carry out arc to motion, then start the clear wiping that the first drive motors and the 3rd drive motors are finished window-glass 34.If carry out radial motion, then continue to judge to retract action or send telemechanical to do, start after judging the second drive motors finish wipe window workpiece 3 retract or send far away, and realize control to the folding and unfolding amount of bow rope 18 by conversion impeller 23 and infrared transceiver 24.If in the journey of nuzzling up clearly, impingement plate 32 runs into window lattice or 33 of window frames produce the collision interruption.At this moment, control system 5 controls can work on after retracting and wiping window workpiece 3.
This bends the cleaning that arm-type window wiping robot is applicable to window-glass 34, especially is applicable to the cleaning towards an outdoor side surface of glass.If the zone of once cleaning rear window glass 34 and still having the fan-shaped working range of wiping window workpiece 3 to cover, then move this main frame 1 fixed position on window frame 33, again start clear the wiping, make the fan-shaped working range of wiping window workpiece 3 can cover above-mentioned zone and get final product.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with technique can understand content of the present invention and according to this enforcement, can not limit protection scope of the present invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (9)
1. one kind is bent arm-type window wiping robot, it is characterized in that: it comprises main frame, is provided with on the described main frame described main frame is arranged at fixed part on the window frame, wipes the control system of the wiping window workpiece of window-glass, the task driven parts that drive the work of described wiping window workpiece, the arm-type window wiping robot work of the described bow of control clearly;
Comprise fixed disk on the described main frame, described task driven parts comprise and rotatingly are installed on the described fixed disk and are connected to drive the first drive unit, bow arm, bow rope that described rotating disc rotates at the rotating disc of the rotation with in surface that is parallel to described window-glass, with described control system, are arranged in the described rotating disc the second drive unit that is connected to control described ropewinder folding and unfolding with the ropewinder of the described bow rope of folding and unfolding, with described control system;
Described bow arm comprises the first rod member and the second rod member; The second end of described the first rod member rotates with described rotating disc and is connected, the junction of described the first rod member and described rotating disc be provided with second become straight spring and described the first rod member with respect to described rotating disc at the rotation with in surface perpendicular to described window-glass; The first end of the first end of described the first rod member and described the second rod member is hinged, and this hinged place is provided with the first straight spring that becomes, and described the first rod member and described the second rod member relatively rotate in the plane perpendicular to described window-glass; The second end of described the second rod member rotates with described wiping window workpiece and is connected, the junction of described the second rod member and described wiping window workpiece be provided with the 3rd become straight spring and described the second rod member with respect to described wiping window workpiece at the rotation with in surface perpendicular to described window-glass;
One end of described bow rope is connected with described wiping window workpiece, and the sidewall that the other end passes described rotating disc is connected with described ropewinder;
Described fixed part comprises the fixed head that is arranged on the described main frame, one end of described fixed head rotates by rotating shaft with described main frame and is connected, and the junction of described fixed head and described main frame is provided with curved spring, be formed for the grasping part of the described window frame of clamping between described fixed head and the described main frame, be provided with elastic rubber fitting on the inwall of close described main frame one side of described grasping part, be provided with the vacuum rubber bowl on the inwall of close described fixed head one side of described grasping part.
2. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: described rotating disc rotates with described fixed disk by fixed axis and is connected, the boring of described rotating disc also forms inner chamber, described the second drive unit and described ropewinder are fixed on the side of described inner chamber, have the tooth bar that arranges along the rotation direction of described rotating shaft on the wall of described inner chamber;
The transmitting gear that rotates on the output shaft that described the first drive unit comprises the first drive motors of being connected with described control system, be arranged at described the first drive motors and with this output shaft same axis, described the first drive unit and described fixed disk all are arranged on the described fixed disk, and described transmitting gear is meshed with described tooth bar.
3. the arm-type window wiping robot of bow according to claim 2 is characterized in that: described tooth bar camber, and described bow arm is arranged on the axis of symmetry of described tooth bar.
4. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: described the second drive unit comprises the second drive motors, and described ropewinder is connected with described the second drive motors and rotates with the described bow rope of folding and unfolding under the drive of described the second drive motors.
5. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: the conversion impeller that is provided with the folding and unfolding amount that detects described bow rope in the described main frame, be provided with the infrared transceiver that is connected with described control system on the wheel rim of described conversion impeller, described bow rope extends to described ropewinder after walking around the described conversion impeller of part.
6. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: described control system comprises control panel, described control panel is arranged on the described fixed head.
7. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: described wiping window workpiece comprises body, the bottom of described body is provided with the hairbrush rotating disk and is arranged at the thumb wheel with salient point of described hairbrush rotating disk both sides, the inside of described body is provided with the 3rd drive unit that drives described hairbrush disk operation, is provided with scraping article on the described thumb wheel.
8. the arm-type window wiping robot of bow according to claim 7 is characterized in that: week upwards be provided with the impingement plate that is connected with described control system around its bottom surface on the described body.
9. the arm-type window wiping robot of bow according to claim 1, it is characterized in that: described control system is connected with power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210566900.3A CN103054508B (en) | 2012-12-19 | 2012-12-19 | Bend arm-type window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210566900.3A CN103054508B (en) | 2012-12-19 | 2012-12-19 | Bend arm-type window wiping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103054508A true CN103054508A (en) | 2013-04-24 |
| CN103054508B CN103054508B (en) | 2016-02-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210566900.3A Expired - Fee Related CN103054508B (en) | 2012-12-19 | 2012-12-19 | Bend arm-type window wiping robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN103054508B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074543A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Split-type robot with suckers |
| CN105741627A (en) * | 2014-09-19 | 2016-07-06 | 西南大学 | 4D classroom |
| CN106419721A (en) * | 2016-10-20 | 2017-02-22 | 肇庆市小凡人科技有限公司 | Sweeping device of glass curtain wall cleaning robot |
| CN110522340A (en) * | 2019-09-27 | 2019-12-03 | 江苏集萃智能制造技术研究所有限公司 | A kind of portable window cleaning device |
| WO2021134537A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Window cleaning robot |
| CN115363468A (en) * | 2021-05-18 | 2022-11-22 | 住友重机械工业株式会社 | Cleaning method, processing method, cleaning device, control device, and storage medium |
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| CN106419721A (en) * | 2016-10-20 | 2017-02-22 | 肇庆市小凡人科技有限公司 | Sweeping device of glass curtain wall cleaning robot |
| CN110522340A (en) * | 2019-09-27 | 2019-12-03 | 江苏集萃智能制造技术研究所有限公司 | A kind of portable window cleaning device |
| WO2021134537A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Window cleaning robot |
| CN115363468A (en) * | 2021-05-18 | 2022-11-22 | 住友重机械工业株式会社 | Cleaning method, processing method, cleaning device, control device, and storage medium |
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| Publication number | Publication date |
|---|---|
| CN103054508B (en) | 2016-02-24 |
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